\begin{table}[h]
\centering
\begin{tabular}{|c|c|c|c|c|c|}
\hline
veličina&CO$3$&CO$4$&CO$5$&CO$6$&CO$7$\\
\hline
\multicolumn{6}{|c|}{sledované výstupy (RMSE)}\\
\hline
$\varphi$&$4.412e-03$&$4.207e-03$&$4.211e-03$&$4.203e-03$&$4.201e-03$\\
\hline
$\dot{\varphi}$
&$7.100e-03$&$6.878e-03$&$6.885e-03$&$6.867e-03$&$6.877e-03$\\
\hline
$Y$&$2.224e-02$
&$2.341e-02$
&$2.344e-02$
&$2.335e-02$
&$2.350e-02$
\\
\hline
\multicolumn{
6
}{|c|}{actuator activity (RMSE)}\\
\hline
$\delta f$&$1.750e-03$&$1.568e-03$&$1.568e-03$&$1.570e-03$&$1.564e-03$\\
\hline
$s_{fl}$&$5.164e-06$&$5.119e-06$&$5.111e-06$&$5.132e-06$&$5.130e-06$\\
\hline
$s_{fr}$&$6.619e-06$
&$6.539e-06$
&$6.548e-06$
&$6.534e-06$
&$6.530e-06$
\\
\hline
\multicolumn{
6
}{|c|}{Ostatní veličiny}\\
\hline
velikost QP problému&$9$&$39$&$11$&$11$&$10$\\
\hline
RMSE porušení $(rad/s)$
&$3.141e-02$&$2.198e-03$&$1.877e-03$&$3.045e-03$&$1.032e-03$\\
\hline
\end{tabular}
\caption{Výsledky kombinace blokování vstupu a redukce měkkých omezení.}
\label{tab:table_combine_redeni}
\end{table}
